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It was launched on an Atlas V 541. The cost of the launch service plus the cost of the operations to fly the rover to Mars and run it for one Martian year on the surface was about $700M. Written Jun 12, 2015.
Transportation costs alone could total over $100 billion before the first Mars mission in 2035. A ballpark cost of the first Mars mission in 2035 would total $230 billion. Second and subsequent missions, occurring at three-year intervals, would cost about $142 billion each including SLS and Orion costs. An expendable lander for the first and subsequent missions is not included in these estimates.